Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F17%3A00320808" target="_blank" >RIV/68407700:21220/17:00320808 - isvavai.cz</a>

Alternative codes found

RIV/49777513:23520/17:43950894

Result on the web

<a href="http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf" target="_blank" >http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

Original language description

The paper deals with the optimization and control synthesis of multi-level mechanism based on cable/fibre driven spherical mechanism Quadrosphere. Multi-level means, that the mechanism consists of the main movable platform and at least one superimposed mechanism. The primary mechanism is considered as a parallel cable driven one, combining principles of parallel kinematics with the usage of cables/fibres/ropes/belts as links, which brings many advantages, namely the light-weight, large range of motion, possibility of anti-backlash operation, easy reconfiguration and even cheaper construction compared to mechanisms with traditional links. On the other hand the cables naturally limit these machines to the area of low frequencies, where the higher frequencies can be covered by the superimposed structure that provides smaller but fast components of requested motion. The presented idea is concretized for the experimental demonstrator of spherical mechanism Quadrosphere. It has been assembled and added by 6 DOF cubic truss created from piezoelectric stack actuators and carrying the secondary platform. The controllability of the platform motion has been tested for two variants of active truss positioning. The next step have been optimization, design and build of additional 3DOF platform fully tailored to the primary Quadrosphere mechanism. Mechanically amplified piezoactuators have been chosen for its actuation. Finally the control of multi-level mechanism using Hinfinity linear controller of fixed-order has been developed. The experiments with multi-level mechanism will be realized in the near future.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

20302 - Applied mechanics

Project

<a href="/en/project/GA15-20134S" target="_blank" >GA15-20134S: Multi-Level Light Mechanisms with Active Structures</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017

ISBN

978-80-01-06174-9

ISSN

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e-ISSN

2523-9589

Number of pages

8

Pages from-to

551-558

Publisher name

výroba

Place of publication

Praha

Event location

Praha

Event date

Jun 19, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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